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It doesn't get installed. It's only useful for development purposes.","created_at":"2017-09-30T08:28:03Z","updated_at":"2017-09-30T08:28:03Z","html_url":"https://github.com/ros-planning/moveit/pull/612#discussion_r142001458","pull_request_url":"https://api.github.com/repos/ros-planning/moveit/pulls/612","author_association":"NONE","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/142001458"},"html":{"href":"https://github.com/ros-planning/moveit/pull/612#discussion_r142001458"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/612"}},"in_reply_to_id":141655160},"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/612","id":141499079,"html_url":"https://github.com/ros-planning/moveit/pull/612","diff_url":"https://github.com/ros-planning/moveit/pull/612.diff","patch_url":"https://github.com/ros-planning/moveit/pull/612.patch","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/612","number":612,"state":"open","locked":false,"title":"Cached ik kinematics plugin","user":{"login":"mamoll","id":2381200,"avatar_url":"https://avatars2.githubusercontent.com/u/2381200?v=4","gravatar_id":"","url":"https://api.github.com/users/mamoll","html_url":"https://github.com/mamoll","followers_url":"https://api.github.com/users/mamoll/followers","following_url":"https://api.github.com/users/mamoll/following{/other_user}","gists_url":"https://api.github.com/users/mamoll/gists{/gist_id}","starred_url":"https://api.github.com/users/mamoll/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mamoll/subscriptions","organizations_url":"https://api.github.com/users/mamoll/orgs","repos_url":"https://api.github.com/users/mamoll/repos","events_url":"https://api.github.com/users/mamoll/events{/privacy}","received_events_url":"https://api.github.com/users/mamoll/received_events","type":"User","site_admin":false},"body":"### Description\r\n\r\nAdded a kinematics plugin that caches IK solutions. It wraps around existing IK solvers. The [kinematics configuration tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/kinematics/src/doc/kinematics_configuration.html) could be updated with some of the documentation I put in `moveit/moveit_kinematics/cached_ik_kinematics_plugin/README.md`.\r\n\r\n### Checklist\r\n- [X] **Required**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)\r\n- [ ] Extended the tutorials / documentation, if necessary [reference](http://moveit.ros.org/documentation/contributing/)\r\n- [ ] Optional: Created tests, which fail without this PR [reference](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/tests.html)\r\n- [ ] Optional: Decide if this should be cherry-picked to other current ROS branches (Indigo, Jade, Kinetic)\r\n\r\nYou can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. 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